METHOD FOR DETECTING AN OBJECT, IMAGE DETECTING DEVICE, COMPUTER PROGRAM, AND STORAGE UNIT

The invention relates to a method (10) for detecting an object (12) using measurement data (14) of at least one point-based sensor (16) which detects the object (12) in that the measurement data (14) which builds a point cloud (20) that has multiple points (22) and corresponding features (24) is processed in that in a point-based first processing step (26) which has at least one processing level (32), features (28) of the point cloud (20) on the input side are transferred as learned features (30) and are enhanced at least with information (50) relating to the relationships between the points (22). The learned features (30) are then transferred to a model grid (74) which has multiple grid cells (72) in a grid-based second processing step (70) which has at least one processing level (68), and cell-related output data (80) is then generated. The invention additionally relates to an image detection device (104), to a computer program, and to a storage unit.